Journal of Computer Applications ›› 2017, Vol. 37 ›› Issue (7): 2114-2117.

### Motion planning algorithm for unmanned surface vehicle based on Dubins path

1. School of Navigation, Wuhan University of Technology, Wuhan Hubei 430000, China
• Received:2016-11-16 Revised:2016-12-23 Online:2017-07-10 Published:2017-07-18
• Supported by:
This work is partially supported by the National Natural Science Foundation of China (51579204, 51679180), the Self-determined and Innovative Research Fund of Wuhan University of Technology (2016IVA064).

### 基于Dubins路径的无人艇运动规划算法

1. 武汉理工大学 航运学院, 武汉 430000
• 通讯作者: 肖长诗
• 作者简介:刘乐柱(1984-),男,安徽淮北人,博士研究生,主要研究方向:路径规划、姿态控制;肖长诗(1974-),男,湖北松滋人,教授,博士,主要研究方向:机器视觉、无人航行器;文元桥(1975-),男,湖北松滋人,教授,博士,主要研究方向:水上交通安全与环境。
• 基金资助:
国家自然科学基金资助项目（51579204，51679180）；武汉理工大学自主创新基金资助项目（2016IVA064）。

Abstract: Aiming at the problem of motion planning for unmanned surface vehicle, a new method of calculating Dubins path by using pure geometric method was proposed by the theoretical analysis of Dubins path. The operation of solving equations was not used by the proposed method. Firstly, the steering circle was calculated according to the motion state of the unmanned surface vehicle. Then, the geometric method was used to compute the common tangent of the steering circles. Finally, the Dubins path was obtained by the common tangent connection. The effectiveness of the proposed method was verified through five groups of simulation experiments. All kinds of situations in the process of calculating the Dubins path were designed in the first four simulation experiments, the proposed algorithm was verified to be applicable to a variety of Dubins path calculation. The last experiment of simulations was used for path planning and motion state adjustment of unmanned surface vehicle. The simulation results show that the motion planning algorithm based on Dubins path is feasible.

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